KR20190003122A - Method for operating moving robot - Google Patents

Abstract

According to an aspect of the present invention, a method for operating a mobile robot comprises: a step of receiving a touch input or a voice input including a predetermined keyword; a step of determining a guide destination on the basis of the predetermined keyword; a step of generating a route to the determined guide destination; a step of moving on the basis of the generated path; and a step of displaying an advertisement image on the basis of the predetermined keyword, thereby capable of improving an advertisement effect and user satisfaction.

Description

Method for operating moving robot [0002]

The present invention relates to a mobile robot and an operation method thereof, and more particularly, to a mobile robot capable of providing guidance and various services to people in a public place and an operation method thereof.

In public places such as airports, railway stations, harbors, department stores, and theaters, information is provided to users through electronic signs and information signs. However, the electric signboard, the guide signboard, and the like only transmit some information selected by the service provider in a one-sided manner, and can not meet the demands of individual users.

Meanwhile, in recent years, the introduction of kiosks for providing information and services to users using multimedia devices such as display means, touch screens, and speakers is increasing. However, even in this case, since the user has to manipulate the kiosk directly, there is a problem that a user who has difficulty in using the device is inconvenient to use and can not actively respond to the request of the user.

On the other hand, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

Therefore, there are increasing researches on ways to provide various services in public places using robots.

On the other hand, various marketing methods are being introduced for a large number of people in a public place.

The prior art (Korean Patent Registration No. 10-1744198 (filed on Jul. 31, 2017)) is an invention related to a field-customized mobile vehicle advertisement system, which analyzes and identifies a floating population at a location where an advertisement vehicle is located, And the advertisement image data corresponding to the feature located is selected.

However, since the conventional technique advertises an unspecified majority as a target, it is difficult to accurately match the target of the advertisement target and the interest of the target.

In addition, since the advertisement vehicle does not show the contents of the advertisement while following the user, the user may understand only a part of the advertisement and the advertisement effect may decrease.

Therefore, there is a need for research on using robots that provide guidance services in public places as marketing tools.

It is an object of the present invention to provide a mobile robot capable of providing various services such as a guidance service in a public place and an operation method thereof.

It is an object of the present invention to provide a mobile robot and an operation method thereof that can easily provide information displayed on a display in a route guidance service provision process.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mobile robot and an operation method thereof that can provide a customized advertisement to a guide target person to improve an advertisement effect and a user satisfaction.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a mobile robot and an operation method thereof that can continuously improve advertisement effects by continuously displaying advertisements to a guide target person for a predetermined time.

According to an aspect of the present invention, there is provided a method of operating a mobile robot including receiving a touch input or voice input including a predetermined keyword, determining a guide destination based on a predetermined keyword, A step of generating a route to the determined guide destination, a step of moving based on the generated route, and a step of displaying an advertisement image based on a predetermined keyword, thereby improving the advertisement effect and the user satisfaction .

According to an aspect of the present invention, there is provided a method of operating a mobile robot including recognizing a ticket inserted through a ticket input port, determining a guide destination based on a recognition result of the ticket, The advertisement effect and the user satisfaction can be improved by including a route to the determined guide destination, moving based on the generated route, and displaying the advertisement image based on the recognition result of the ticket .

According to at least one of the embodiments of the present invention, various services such as a guidance service can be provided in a public place.

In addition, according to at least one embodiment of the present invention, it is possible to easily provide information displayed on a display in a route guidance service provision process.

In addition, according to at least one embodiment of the present invention, the advertisement effect and the user satisfaction can be improved by providing a customized advertisement to the guide target person.

In addition, according to at least one embodiment of the present invention, the advertisement effect can be improved by continuously displaying the advertisement to the guide target for a predetermined time.

Meanwhile, various other effects will be directly or implicitly disclosed in the detailed description according to the embodiment of the present invention to be described later.

1 is a perspective view of a mobile robot according to an embodiment of the present invention.
2 is a bottom perspective view of a mobile robot according to an embodiment of the present invention.
3 is a side view of a mobile robot according to an embodiment of the present invention.
4 is an exploded perspective view of a mobile robot according to an embodiment of the present invention.
5 is a view illustrating arrangements of displays of a mobile robot according to an embodiment of the present invention.
6 is an exploded perspective view of a main body of a mobile robot according to an embodiment of the present invention.
FIG. 7 is a block diagram illustrating a control relationship between main components of a mobile robot according to an embodiment of the present invention. Referring to FIG.
FIG. 8 is a diagram for explaining an on-screen display according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 9 is a diagram referred to in explanation of an advertisement screen displayed in a waiting state according to an embodiment of the present invention.
10 is a flowchart illustrating an operation method of a mobile robot according to an embodiment of the present invention.
11 is a flowchart illustrating an operation method of a mobile robot according to an embodiment of the present invention.
12 to 21 are diagrams referred to in explaining an operation method of the mobile robot according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, it is needless to say that the present invention is not limited to these embodiments and can be modified into various forms.

In the drawings, the same reference numerals are used for the same or similar parts throughout the specification.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

FIG. 1 is a perspective view of a mobile robot according to an embodiment of the present invention, FIG. 2 is a bottom perspective view of the mobile robot viewed from the bottom, FIG. 3 is a side view of the mobile robot, to be.

1 to 4, the mobile robot 1 according to an embodiment of the present invention may include a main body 10 which forms an outer appearance and houses various components therein.

The main body 10 may have a long length in a vertical direction and may have a slender shape as it goes up from the lower part to the upper part as a whole.

The main body 10 may include a case 30 forming an outer appearance of the mobile robot 1. [ The case 30 includes a top cover 31 disposed on the upper side, a first middle cover 32 disposed on the lower side of the top cover 31, a second middle cover 32 disposed on the lower side of the first middle cover 32, A middle cover 33 and a bottom cover 34 disposed under the second middle cover 33. Here, the first middle cover 32 and the second middle cover 33 may be one middle cover.

The top cover 31 is located at the uppermost end of the mobile robot 1 and may have a hemispherical shape or a dome shape. The top cover 31 may be located at a lower height than an adult's key for easy input of commands from a user. The top cover 31 may be configured to rotate at a predetermined angle.

On the other hand, the top cover 31 and the head portion 15 therein are arranged at the top of the mobile robot 1 and have a shape and function similar to the head of a human, I can take charge. Therefore, the top cover 31 and the head portion 15 therein can be named as a head. In addition, the remaining portion disposed below the head may be referred to as a body.

The top cover 31 may include an operation unit 311 on one side of the front cover. The operation unit 311 may perform a function of receiving a command from a user. To this end, the operation unit 311 may include a display 312 for receiving a touch input from a user.

The display 312 disposed on the operation unit 311 is referred to as a first display or the head display 312 and the display included in the display unit 20 disposed on the body is referred to as a second display or a body display 21 You can name it.

The head display 312 may include a touch screen and a touch screen. In this case, the head display 312 can be used as an input device capable of inputting information by a user's touch in addition to the output device.

In addition, the operation unit 311 can be directed upward by a certain angle so that the user can easily operate while viewing the head display 312 downward. For example, the operation unit 311 may be disposed on a surface of the top cover 31, which is formed by cutting a part of the top cover 31. Accordingly, the head display 312 may be arranged to be inclined.

In addition, the operating portion 311 may have a circular or elliptical shape as a whole. The manipulation unit 311 may be implemented in a manner similar to a face shape of a person.

For example, the operation unit 311 has a circular shape, and one or more structures for expressing the eyes, nose, mouth, eyebrows, etc. of a human being may be positioned on the operation unit 311.

That is, a specific structure may be arranged on the operation unit 311 to express a person's eyes, nose, mouth, brow or the like, or a specific paint may be painted. Therefore, the operation unit 311 has a human face shape, so that it is possible to provide the user with an emotional feeling. Furthermore, when a robot having a face shape of a person runs, it is possible to give a feeling that a person is moving, thereby relieving the sense of resistance to the robot.

As another example, one or more images for expressing a human's eyes, nose, mouth, eyebrows, etc. may be displayed on the head display 312.

That is, on the head display 312, not only information related to the route guidance service but also various images for expressing the face shape of a person can be displayed. On the head display 312, an image for expressing a facial expression determined at a predetermined time interval or at a specific time may be displayed.

On the other hand, the direction in which the operating portion 311 faces with reference to Fig. 1 is defined as "forward ". And the opposite direction of "forward" is defined as "rear ".

In addition, the operation unit 311 may be provided with a head camera unit 313 for recognizing people and objects.

The head camera unit 313 may be disposed above the head display 312. The head camera unit 313 may include a 2D camera 313a and RGBD sensors 313b and 313c.

The 2D camera 313a may be a sensor for recognizing a person or an object based on a two-dimensional image.

Also, the RGBD sensors (Red, Green, Blue, Distance) 313b and 313c may be sensors for acquiring a person's position or a face image. The RGBD sensors 313b and 313c may be sensors for detecting people or objects using captured images having depth data obtained from a camera having RGBD sensors or other similar 3D imaging devices.

In order to accurately detect a person's position or a face image, the RGBD sensors 313b and 313c may be plural. For example, the RGBD sensors 313b and 313c may be disposed on the left and right sides of the 2D camera 313a.

Although not shown, the operation unit 311 may further include a physical button for directly receiving a command from a user.

In addition, the top cover 31 may further include a microphone 314.

The microphone 314 may perform a function of receiving a command of an audio signal from a user. For example, the microphone 314 may be formed at four points at any point on the top of the top cover 31 to correctly receive voice commands from the user. Therefore, even when the mobile robot 1 is running or the top cover 31 is rotating, it is possible to accurately receive the route guidance request from the user.

In one embodiment of the present invention, the top cover 31 may be rotated such that the operating portion 311 faces the traveling direction while the mobile robot 1 is traveling. When the mobile robot 1 receives a command (for example, voice command) from the user while the mobile robot 1 is traveling, the top cover 31 may be rotated so that the operation unit 311 faces the direction in which the user is located.

Alternatively, the top cover 31 may be rotated in a direction opposite to the running direction of the mobile robot 1 when the mobile robot 1 receives a command from the user while the mobile robot 1 is running. That is, the top cover 31 may be rotated in a direction that the body display unit 20 faces. Accordingly, the user can operate the operation unit 311 effectively while viewing the guidance service information or the like displayed on the body display unit 20.

5 is a view in which the displays 312 and 20 of the mobile robot 1 are aligned according to an embodiment of the present invention.

5, when the mobile robot 1 receives a command from the user or is on standby, the displays 312 and 20 are aligned in one direction so that users of the user or the public place can see the two displays 312 and 20 It is possible to make the information displayed more easily.

On the other hand, the viewing direction of the operation unit 311 and the body display unit 20 may be opposite to each other. In this case, for example, the operation unit 311 may be oriented toward one direction and the display unit 20 may be oriented toward the other direction opposite to the one direction. Therefore, the operation unit 311, The information displayed on the display unit 20 can be viewed from both directions.

The direction in which the operation unit 311 and the body display unit 20 are viewed may be different from each other when the mobile robot 1 is running or stopped.

For example, when the mobile robot 1 is running, the direction in which the operation unit 311 and the body display unit 20 are viewed may be opposite to each other, as illustrated in FIG.

In addition, when the mobile robot 1 is in the standby state, the direction in which the operation unit 311 and the body display unit 20 are viewed may be the same as illustrated in FIG.

In addition, the top cover 31 may further include an emergency operation button 315. The emergency operation button 315 can perform a function of immediately stopping the operation of the mobile robot 1 while the mobile robot 1 is stopped or running. For example, the emergency operation button 315 may be located behind the mobile robot 1 so that the emergency operation button 315 can be operated easily, even if the mobile robot 1 runs forward. have.

The first middle cover 32 may be disposed below the top cover 31. Various electronic components including a substrate may be positioned inside the first middle cover 33. The first middle cover 32 may have a cylindrical shape having a larger diameter as it goes downward from the upper portion.

More preferably, the first middle cover 32 may include an RGBD sensor 321.

The RGBD sensor 321 may detect a collision between the mobile robot 1 and an obstacle while the mobile robot 1 is traveling. For this purpose, the RGBD sensor 321 may be positioned in a direction in which the mobile robot 1 travels, that is, in front of the first middle cover 32. For example, the RGBD sensor 321 may be positioned at the upper end of the first middle cover 32, taking into account the obstacle or human key present in front of the mobile robot 1. However, the present invention is not limited thereto, and the RGBD sensor 321 may be disposed at various positions in front of the first middle cover 32.

The RGBD sensor 321 is not disposed in the first middle cover 32 and the function of the RGBD sensor 321 can be performed in the head camera unit 313. [

The first middle cover 32 may further include a speaker hole 322.

The speaker hole 322 may be a hole for transmitting sound generated from the speaker to the outside. The speaker hole 322 may be formed on the outer peripheral surface of the first middle cover 32, or may be formed in a single number. Alternatively, the plurality of speaker holes 322 may be formed on the outer peripheral surface of the first middle cover 32 to be spaced apart from each other.

The first middle cover 32 may further include a hole 323 for a stereo camera.

The hole 323 for a stereo camera may be a hole for an operation of a stereo camera (refer to 137 in FIG. 6) installed in the main body 10. For example, the hole 323 for the stereo camera may be formed at a lower front end of the first middle cover 32. Accordingly, the stereo camera 137 can take a picture of the front area of the mobile robot 1 through the hole for stereo camera 323.

The second middle cover (33) may be disposed below the first middle cover (32). A battery, a rider for autonomous traveling, and the like may be positioned inside the second middle cover 33. Like the first middle cover 32, the second middle cover 33 may have a cylindrical shape having a larger diameter from the upper to the lower side. The outer side of the second middle cover (33) may be connected to the outer side of the first middle cover (32) without a step. That is, since the outer side of the second middle cover 33 and the outer side of the first middle cover 32 can be smoothly connected, the appearance of the second middle cover 33 can be improved.

Further, the first middle cover 32 and the second middle cover 33 have a cylindrical shape having a larger diameter as they descend from the upper portion to the lower portion, so that the first middle cover 32 and the second middle cover 33 may have a chirped shape as a whole. Therefore, the impact generated when the main body 10 collides with a person or an obstacle can be alleviated.

In detail, the second middle cover 33 may include a first cutout 331.

The first cutout 331 may be formed laterally in front of the outer circumferential surface of the second middle cover 33. The first cutout portion 331 is a portion cut from the second middle cover 33 so that a front rider 136, which will be described later, can operate.

Specifically, the first cutout 331 may be cut to a predetermined length in the radial direction from the outer circumferential surface of the front side of the second middle cover 33. Here, the front rider 136 is positioned inside the second middle cover 33. The first cutout portion 331 may be formed along the circumference of the second middle cover 33 on the outer circumferential surface of the second middle cover 33 corresponding to the position of the front rider 136 . That is, the first incision part 331 and the front rider 136 may face each other. Therefore, the front rider 136 may be exposed to the outside by the first cutout portion 331. [

For example, the first incision 331 may be cut by 270 degrees around the front of the second middle cover 33. The reason why the first incision 331 is formed in the second middle cover 33 is to prevent the laser emitted from the front rider 136 from being directly irradiated to the eyes of an adult or a child to be.

In addition, the second middle cover 33 may further include a second cutout 332.

The second cut portion 332 may be formed laterally from the rear of the outer circumferential surface of the second middle cover 33. The second cut-out portion 332 is a portion cut from the second middle cover 33 so that a rear rider 118, which will be described later, is operable.

Specifically, the second cut-out portion 332 may be cut to a predetermined length in the radial direction from the rear outer circumferential surface of the second middle cover 33. Here, the rearward rider 118 is located inside the second middle cover 33. The second cut-out portion 332 may be formed along the second middle cover 33 at a position corresponding to the position of the rear rider 118. Therefore, the rear rider 118 may be exposed to the outside by the second cutout 332. [ For example, the second incision 332 may be cut by about 130 degrees along the circumference at the rear of the second middle cover 33.

In the present embodiment, the first incision part 331 may be spaced apart from the second incision part 332 in the vertical direction. The first incision part 331 may be positioned above the second incision part 332.

If the first incision 331 and the second incision 332 are located on the same line, the laser emitted from the rider of the one mobile robot can be irradiated to the rider of the other mobile robot. Then, the lasers emitted from the lasers of the respective mobile robots may interfere with each other, and accurate distance detection may become difficult. In this case, since it is impossible to detect the distance between the mobile robot and the obstacle, normal traveling is difficult and a problem that the mobile robot and the obstacle collide with each other may occur.

Further, the second middle cover 33 may further include an ultrasonic sensor 333.

The ultrasonic sensor 333 may be a sensor for measuring the distance between the obstacle and the mobile robot 1 using an ultrasonic signal. The ultrasonic sensor 333 can perform a function of detecting an obstacle close to the mobile robot 1. [

For example, the ultrasonic sensor 333 may be configured to detect obstacles in all directions close to the mobile robot 1. The plurality of ultrasonic sensors 333 may be spaced apart from each other around the lower end of the second middle cover 33.

The bottom cover 34 may be disposed on the lower side of the second middle cover 33. A wheel 112, a caster 112a, and the like may be positioned inside the bottom cover. Unlike the first middle cover 32 and the second middle cover 33, the bottom cover 34 may have a cylindrical shape whose diameter decreases from the upper portion to the lower portion. That is, the main body 10 has a staggered shape as a whole to reduce the amount of impact applied when the robot is in a collision state, and the lower end of the main body 10 has a structure to move inwardly to prevent a human foot from being caught by the wheels of the robot .

In detail, a base 111 may be positioned inside the bottom cover 34.

The base 111 may form a bottom surface of the mobile robot 1. [

The base 111 may be provided with a wheel 112 for traveling the mobile robot 1. The wheel 112 may be positioned on the left and right sides of the base 111, respectively.

In addition, the base 111 may be provided with a caster 112a for assisting the traveling of the mobile robot 1. [ Here, the casters 112a may be composed of a plurality of casters for manual movement of the mobile robot 1. [ For example, the casters 112a may be positioned at the front and rear of the base 111, respectively.

According to the above-described caster structure, when the power of the mobile robot 1 is turned off or the mobile robot 1 is manually moved, the mobile robot 1 can be pushed and moved without applying a large force There are advantages.

The body display unit 20 may be formed long in the vertical direction at one side of the mobile robot 1. [

In detail, the body display part 20 may include a body display 21 and a support part 22.

The body display 21 may be positioned behind the first middle cover 32. The body display 21 may perform a function of outputting time information (e.g., airport gate inquiry information, route guidance service information, etc.) related to a service currently being provided.

The body display 21 may be a curved surface display having a shape curved outward to a predetermined curvature. That is, the body display 21 may have a concave shape as a whole. The body display 21 may have a shape that tilts backward as it goes down from the upper part. In other words, the body display 21 may be formed so as to gradually move away from the case 30 as it goes down from the upper part.

According to the display unit structure described above, not only the information displayed on the body display 21 is visible at a position far from the mobile robot 1 but also the information displayed on the body display 21 is distorted at various angles There is no advantage.

In addition, according to the embodiment of the present invention, the mobile robot 1 can move along the set path to guide the user to the path. The user can see the body display unit 20 installed on the rear side of the mobile robot 1 while moving along the mobile robot 1. [ That is, even if the mobile robot 1 travels for guiding the route, the user can easily see the information displayed on the body display unit 20 while following the mobile robot 1.

The upper end of the body display 21 may extend to the upper end of the first middle cover 32 and the lower end of the body display 21 may extend to the second cutout 332. In this embodiment, the lower end of the body display 21 should be formed so as not to exceed the second cut-out portion 332. If the body display 21 is formed so as to cover the second cut-out portion 332, the laser emitted from the rear rider 118 is struck against the lower end of the body display 21. Accordingly, the mobile robot 1 may not be able to detect the distance to the obstacle located behind.

Meanwhile, the support part 22 may function to hold the body display 21 to be positioned behind the first middle cover 32. [ The support portion 22 may extend from the back surface of the body display portion 21. [ The support portion 22 may be formed to be long in the vertical direction on the back surface of the body display 21 and may protrude further downward from the upper portion.

The support portion 22 may be inserted into the first middle cover 32 through the rear of the first middle cover 32. To this end, a through hole 324 through which the support portion 22 can pass may be formed in the rear of the first middle cover 32. The through-hole 324 may be formed by cutting a part of the outer peripheral surface of the first middle cover 32 rearward.

The body display unit 20 may be fixed to the inside of the main body 10 by a separate fixing member 138.

A fixing member 138 for fixing the body display unit 20 to the main body 10 may be provided in the main body 10. One side of the fixing member 138 may be fixed to the body 10 and the other side thereof may be fixed to the body display unit 20. To this end, the other side of the fixing member 138 may protrude to the outside of the case 30 through the through hole 324. That is, the support portion 22 and the fixing member 138 may be positioned together in the through hole 324.

In this embodiment, the body display unit 20 can be fastened to the fixing member 138 by fastening means. At this time, the supporting part 22 of the body display part 20 can be raised above the fixing member 138. In other words, the extension part 20 is mounted on the upper side of the fixing member 138, and a part of the fixing member 138 can be fixed to a part of the body display part 20. With such a display unit fixing structure, the body display unit 20 can be stably positioned at the rear of the first middle cover 32.

Meanwhile, the body display unit 20 may further include a ticket input port 50. The present invention is not limited to this example. The ticket input port 50 may be provided at another portion of the mobile robot 1 .

According to an embodiment of the present invention, when a ticket such as a ticket is inserted into the ticket input port 50, the mobile robot 1 can scan a barcode, a QR code, and the like included in the ticket.

In addition, the mobile robot 1 displays a scan result on the body display 21, and provides the user with gate information, counter information, etc. according to the scan result.

The body display unit 20 may further include a body camera unit 25 for identifying and tracking the guidance object.

The body camera unit 25 may include a 3D sensor such as an RGBD camera sensor, and may detect the presence or absence of a guidance object, distance to the mobile robot 1, speed, and the like in the guidance mode.

According to the embodiment, the mobile robot 1 may not include the body camera unit 25, but may further include a guide object identification and tracking sensor disposed at another site.

6 is an exploded perspective view of the main body of the mobile robot.

Referring to FIG. 6, the body 10 according to the present invention may include a driving unit 11. The driving unit 11 may include a plurality of components for driving the mobile robot 1. [

In detail, the driving unit 11 may include a base 111. The base 111 may form the bottom surface of the mobile robot 1. [

The base 111 may have a disc shape, and may be positioned inside the bottom cover 34.

The driving unit 11 may further include a wheel 112 for driving the mobile robot 1 and a motor (not shown) for transmitting power to the wheel 112. The wheel 112 may be rotated by the power transmitted from the motor. The wheels 112 may be formed as a pair and may be disposed on the left and right sides of the base 111, respectively. The motors may also be configured as a pair, and may be coupled to the pair of wheels 112, respectively. However, the present invention is not limited thereto, and the motor may be a single motor to drive the pair of wheels 112.

Meanwhile, the mobile robot 1 may further include a cliff detection sensor 113.

The cliff detection sensor 113 may be a sensor for detecting a cliff or a cliff in a traveling range of the mobile robot 1 in 360 degrees forward direction. The cliff detection sensor 113 may include a plurality of cliff detection sensors.

For example, the plurality of cliff-detection sensors 113 may be spaced apart from each other along the edge of the base 111.

Further, the cliff-detecting sensor 113 may be disposed along a region adjacent to the front rider 136 and the first cut-out portion 331 so as to observe the front lower end. As a result, cliffs and young children can be detected approaching.

The driving unit 11 may further include a first supporting rib 114. The first supporting rib 114 may support a first supporting plate 115 to be described later. The first support ribs 114 may extend upward from the upper surface of the base 111. For example, the first support ribs 114 may extend upward from the edge of the base 111. The first support ribs 114 may include a plurality of first support ribs 114. Some of the first support ribs 114 may be hollow or have one side recessed to minimize weight.

In the present embodiment, the two first support ribs 114 may be connected in a "? &Quot; shape. However, the present invention is not limited thereto, and the first support ribs 114 may be disposed in various positions and shapes.

In addition, the driving unit 11 may further include a first support plate 115.

The first support plate 115 may be positioned above the first support ribs 114. The first support plate 115 may have a plate-like shape. The first support plate 115 may include a drain hole 115a for minimizing weight. A plurality of holes 115a may be formed on the upper surface of the first support plate 115.

The driving unit 11 may further include a first bumper unit 116. The first bumper part 116 may be moved in the forward and backward directions to absorb a certain amount of an impact when an external impact is applied. The first bumper part 116 may be formed in a ring shape having an inner space and may be disposed on the upper surface of the first support plate 115.

In addition, the driving unit 11 may further include a battery 117.

The battery 117 may supply power for driving the mobile robot 1. [ The battery 117 may be disposed at the center of the upper surface of the first support plate 115 in consideration of the center of gravity of the mobile robot 1. [ Since the battery 117 occupies the largest weight of the entire weight of the mobile robot 1, it may be positioned at a lower position in the main body 10.

In addition, a rearward rider 118 may be disposed on the driving unit 11.

The rearward rider 118 may be a laser radar, which performs a position recognition by irradiating a laser beam and collecting and analyzing backscattered light among light absorbed or scattered by the aerosol . The rear rider 118 may be disposed behind the first support plate 115. That is, the rear rider 118 may be disposed toward the rear of the mobile robot 1. [ The rear rider 118 may be exposed to the outside through the second cut-out portion 332 formed in the second middle cover 33.

In addition, the driving unit 11 may further include a second supporting rib 119. The second support rib 119 may support the second support plate 120, which will be described later. The second support ribs 119 may extend upward from the upper surface of the first support plate 115.

Specifically, the second support ribs 119 may be formed at the edge of the battery 117. For example, the second support ribs 119 may be formed on both sides of the battery 117, respectively. The second supporting ribs 119 may be formed with a plurality of second supporting ribs 119 to increase the supporting force and the upper ends of the plurality of second supporting ribs 119 may be connected. That is, the second support ribs 119 may have an arch shape. However, the present invention is not limited thereto, and the second support rib 119 may have various shapes.

In addition, the driving unit 11 may further include a second support plate 120. The second support plate 120 may be positioned above the second support rib 119. The second support plate 120 may have a plate-like shape. In addition, the second support plate 120 may include a hole 120a for draining to minimize weight. A plurality of the holes 120a may be spaced apart from the upper surface of the second support plate 120.

In addition, the driving unit 11 may further include a second bumper unit 121. Like the first bumper part 116, the second bumper part 121 can be moved in the forward and backward directions to absorb a certain amount of impact when an external impact is applied. The second bumper part 121 may be formed in a ring shape and may be disposed on the upper surface of the second support plate 120.

The driving unit 11 may further include a height adjusting rib 122. The height adjusting rib 122 may provide a predetermined height to a front rider 136 to be described later. That is, the height adjusting ribs 122 may be disposed on the lower side of the front rider 136 to assist in adjusting the height of the front rider 136 and the first incision portion 331. The height adjusting ribs 122 may extend upward from the upper surface of the second support plate 120.

The body 10 may further include a body 13. The body part 13 may be provided on the upper side of the driving part 11 and may include various boards 133 on which a circuit for controlling the overall operation of the mobile robot 1 is mounted. In this embodiment, the substrate 133 may include a first substrate 133a, a second substrate 133b, a third substrate 133c, a fourth substrate 133d, and a fifth substrate 133e.

In detail, the body part 13 may include a main frame 131. The main frame 131 may support the body display unit 20 and a head unit 15 to be described later. The main frame 131 may include a first main frame 131a and a second main frame 131b. The first main frame 131a and the second main frame 131b may have a columnar shape that is long in the vertical direction. The first main frame 131a and the second main frame 131b may be fixed to the upper surface of the second support plate 120.

For example, the first main frame 131a and the second main frame 131b may be equally spaced from both sides of the center of the second support plate 120. That is, the first main frame 131a and the second main frame 131b may be symmetrical with respect to the center of the second support plate 120. The head portion 15 may be coupled to the upper ends of the first main frame 131a and the second main frame 131a.

Further, the body part 13 may further include a third support plate 132. The third support plate 132 may be penetrated by the main frame 131 and may be inserted at any point of the main frame 131. The third support plate 132 may be positioned below the bisector based on a bisector of the main frame 131. The third support plate 132 has a disk shape and may include a drain hole 132a for minimizing weight.

In addition, the body part 13 may further include a first substrate 133a. The first substrate 133a may be disposed on the upper surface of the third support plate 132. The first substrate 133a may include an AP (Application Processor), for example. The AP board can function as an apparatus for managing the entire system of the hardware module of the mobile robot 1, i.e., a control unit (see 740 in FIG. 7).

In addition, the body part 13 may further include a subframe 134. The sub-frame 134 may be formed on the lower side of the third support plate 132 to support the third support plate 132. The sub frame 134 is formed lower than the height of the main frame 13.

In particular, the sub-frame 134 may include a first sub-frame 134a and a second sub-frame 134b. The first sub-frame 134a and the second sub-frame 134b may have a columnar shape that is long in the vertical direction. The first sub-frame 134a and the second sub-frame 134b may be fixed to the upper surface of the second support plate 120.

The first sub-frame 134a and the second sub-frame 134b may be disposed adjacent to the main frame 131. For example, the first subframe 134a and the second subframe 134b may be equally spaced rearward from the first main frame 131a and the second main frame 131b, respectively. That is, the first sub-frame 134a and the second sub-frame 134b may be symmetrical with respect to the center of the second support plate 120. The third support plate 132 may be coupled to the upper ends of the first sub-frame 134a and the second sub-frame 134a.

In addition, the sub-frame 134 may further include a third sub-frame 134c. The third sub-frame 134c may have a columnar shape that is long in the vertical direction. The third sub-frame 134c may be fixed to the upper surface of the second support plate 120 in the same manner as the first sub-frame 134a and the second sub-frame 134b.

In addition, the third sub-frame 134c may be disposed adjacent to the main frame 131. FIG. For example, the third sur- face frame 134c may be spaced apart from the center of the second support plate 120 by a predetermined distance. In other words, the third sub-frame 134c may be positioned in front of the second support plate 120 in consideration of the center of gravity of the third support plate 132. [ The third support plate 132 may be coupled to the upper end of the third sub-frame 134c.

Further, the body part 13 may further include a bracket part 135. The bracket part 135 may have a plate shape and may be elongated in the vertical direction and may be coupled to the main frame 131. Specifically, the bracket part 135 includes a first bracket part 135a and a second bracket part 135a. And may include a bracket portion 135b.

The first bracket part 135a may be coupled to the first main frame 131a and the second bracket part 135b may be coupled to the second main frame 131b.

The first bracket portion 135a and the second bracket portion 135b may be disposed to face each other. That is, the first bracket part 135a and the second bracket part 135b may be fixed to the surfaces of the first main frame 131a and the second main frame 131b facing each other.

The first bracket portion 135a and the second bracket portion 135b may extend downward from the upper ends of the first main frame 131a and the second main frame 131b, respectively. A lower portion of the first bracket portion 135a and a lower portion of the second bracket portion 135b may pass through the third support plate 132. [

In addition, the body part 13 may further include a second substrate 133b. The second substrate 133b may be disposed on the first bracket portion 135a. Specifically, the second substrate 133b may be disposed at a lower end of the first bracket portion 135a. The second substrate 133b may include an MCU board (Micro Controller Unit). The MCU board can control the overall operation of the mobile robot 1. [ In addition, a memory may be disposed on the second substrate 133b, or an MCU board may include a memory in which data supporting various functions of the mobile robot 1 is stored.

In addition, the body part 13 may further include a third substrate 133c. The third substrate 133c may be disposed on the first bracket portion 135a. Specifically, the third substrate 133c may be disposed on the second substrate 133b. The third substrate 133c may include a stereo board, for example. The stereo board processes and processes sensing data collected from various sensors and cameras to manage data for recognizing the position of the mobile robot 1 and recognizing obstacles.

Further, the body part 13 may further include a fourth substrate 133d. The fourth substrate 133d may be disposed on the first bracket portion 135a. In detail, the fourth substrate 133d may be disposed on the third substrate 133c. The fourth substrate 133d may include a user interface board.

The user interface board can control an operation of a component responsible for user input and output.

In addition, the body part 13 may further include a fifth substrate 133e. The fifth board 133e may be disposed on the second bracket portion 135b. Specifically, the fifth substrate 133e may be disposed to face the second substrate 133b from the inside of the second bracket portion 135b. The fifth substrate 133e may include a power board, for example. The power supply board can control that power of the battery 117 is supplied to each component included in the mobile robot 1. [

In the present embodiment, the body portion 13 has been described as including five substrates 133a, 133b, 133c, 133d, and 133e. However, the number of the substrate 133 is not limited to the above number, but may be smaller or larger than the above number. It should be understood that the types of the above-described substrates have been described by way of example, and thus are not limited to the above-described types of substrates.

In addition, the body part 13 may further include a front rider 137. The front rider 137 may be a laser radar, which is a sensor that irradiates a laser beam and collects and analyzes backscattered light among light absorbed or scattered by the aerosol to perform position recognition. The front rider 137 may have the same configuration as the rear rider 118. However, the front rider 137 may be disposed in front of the second support plate 120. That is, the front rider 137 may be disposed toward the front of the mobile robot 1. [ The front rider 137 may be exposed to the outside through the first cut-out portion 331 formed in the second middle cover 33. The front rider 137 may be lifted up to the height adjustment rib 122 formed on the second support plate 120.

In addition, the body part 13 may further include a stereo camera 137. The stereo camera 137 may perform a function of detecting an obstacle in front of the mobile robot 1 together with the RGBD sensor 321. The stereo camera 137 acquires a stereoscopic image using two cameras and can measure the distance between the mobile robot 1 and an obstacle through the obtained stereoscopic image. In one example, the stereo camera 137 may be located in a room directly above the front rider 137. For this purpose, the stereo camera 137 may be fixed to one side of the third sub-frame 134c. The stereo camera 137 can photograph a front area of the mobile robot 1 through the stereo camera hole 323 formed in the first middle cover 32.

The main body 10 may further include a head 15. The head part 15 may be disposed on the upper side of the body part 13. The head cover 15 is coupled to the top cover 31, and the top cover 31 is rotatable.

In detail, the head portion 15 may include a fourth support plate 151. The fourth support plate 151 is mounted on the upper end of the main frame 131 and can be engaged with the main frame 131. The fourth support plate 151 has a disk shape and may include a drain hole 151a for minimizing weight.

Further, the head 15 may further include a rotating member 152. The rotary member 152 is disposed on the upper side of the fourth support plate 151 and can be rotated at a predetermined angle. The rotary member 152 may have a ring shape. The rotating member 152 may be coupled to a rotating motor to be described later. For this purpose, the rotating member 152 may include a motor engaging portion 152a extending from the edge of the rotating member 152 toward the center of the rotating member 152 at a certain point. The top cover 31 may be coupled to an edge of the rotary member 152. Accordingly, the top cover 31 can be rotated together by the rotation of the rotatable member 152.

The head unit 15 may further include a rotation motor 153. The rotation motor 153 may provide power for rotating the rotary member 152. [ The rotation motor 153 has a rotation axis, and the rotation axis can be coupled to the motor coupling part 152a. Therefore, the rotation member 152 can be rotated in one direction or another direction by driving the rotation motor 153. [ The rotation motor 153 may include, for example, a DC motor. However, the present invention is not limited thereto, and various motors such as a stepping motor may be used.

FIG. 7 is a block diagram illustrating a control relationship between main components of a mobile robot according to an embodiment of the present invention. Referring to FIG.

7, a mobile robot 1 according to an embodiment of the present invention includes a voice input unit 725 for receiving a voice input of a user through a microphone 314, a storage unit 730 for storing various data, A communication unit 790 for transmitting / receiving data to / from another electronic device such as a server (not shown), and a control unit 740 for controlling the overall operation of the mobile robot 1. [ The above structures can be mounted on the substrate 133 described above.

The voice input unit 725 may include a processing unit for converting the analog voice into digital data or may be connected to the processing unit to convert the user input voice signal into data to be recognized by the control unit 740 or a server (not shown).

The control unit 740 controls the overall operation of the mobile robot 1 by controlling the voice input unit 725, the storage unit 730, the communication unit 790, and the like, which constitute the mobile robot 1.

The storage unit 730 records various kinds of information necessary for controlling the mobile robot 1, and may include a volatile or nonvolatile recording medium. The storage medium stores data that can be read by a microprocessor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD- Tape, floppy disk, optical data storage, and the like.

In addition, the storage unit 730 may store various data necessary for the mobile robot 1 to provide the guidance service.

Also, the control unit 740 can transmit the operation state of the mobile robot 1, user input, etc. to the server through the communication unit 790.

The communication unit 790 includes at least one communication module so that the mobile robot 1 is connected to the Internet or a predetermined network.

Meanwhile, data for voice recognition may be stored in the storage unit 730, and the controller 740 may process the voice input signal of the user received through the voice input unit 725 and perform a voice recognition process .

On the other hand, the control unit 740 can control the mobile robot 1 to perform a predetermined operation based on the speech recognition result.

For example, when the command included in the voice signal is a command for requesting predetermined information such as flight start information and sightseeing guide information, the control unit 740 displays predetermined information such as flight start information and sightseeing guide information on the display unit 710 Can be controlled.

In addition, if there is a user's guide request, the control unit 740 may control the user to escort the user to the guide destination selected by the user.

On the other hand, the speech recognition process can be performed in the server, not in the mobile robot 1 itself.

In this case, the control unit 740 may control the communication unit 790 to transmit the user input voice signal to the server, and may receive the recognition result of the voice signal from the server through the communication unit 790 have.

Alternatively, the mobile robot 1 performs simple speech recognition such as caller recognition, and high-dimensional speech recognition such as natural language processing can be performed in the server.

Meanwhile, the mobile robot 1 may include a display unit 710 for displaying predetermined information as an image and an acoustic output unit 780 for outputting predetermined information as an acoustic signal.

The display unit 710 may display information corresponding to a request input by a user, a processing result corresponding to a request input by the user, an operation mode, an operation state, an error state, and the like.

As described above with reference to FIGS. 1 to 6, the display unit 710 may include a head display 312 and a body display 21. Since the body display 21 is relatively larger in size than the head display 312, it may be preferable to display the information on the body display 21 in a large screen.

In addition, the sound output unit 780 outputs a notification message such as an alarm sound, an operation mode, an operation state, and an error state, information corresponding to a request input by the user, a processing result corresponding to a request input by the user, And so on. The audio output unit 780 can convert the electrical signal from the control unit 740 into an audio signal and output it. For this purpose, a speaker or the like may be provided.

Meanwhile, the mobile robot 1 may include an image acquisition unit 720 capable of photographing a predetermined range.

The image acquiring unit 720 photographs the surroundings of the mobile robot 1, the external environment, and the like, and may include a camera module. Several cameras may be installed for each part of the camera for photographing efficiency.

For example, as described above with reference to FIGS. 1 to 6, the image acquiring unit 720 includes a head camera unit 313 for recognizing a person and an object, and a body camera unit (25). However, the number, arrangement, type, and photographing range of the cameras included in the image obtaining unit 720 are not necessarily limited thereto.

The image acquisition unit 720 can capture a user recognition image. The control unit 740 can determine an external situation based on the image captured by the image obtaining unit 720 or recognize the user (guidance target).

Also, the control unit 740 can control the mobile robot 1 to travel based on an image captured and acquired by the image acquisition unit 720. [

Meanwhile, the image captured and obtained by the image acquisition unit 720 may be stored in the storage unit 730.

Meanwhile, the mobile robot 1 may include a driving unit 760 for moving, and the driving unit 760 may correspond to the driving unit 11 described above with reference to Figs. 1 to 6. The driving unit 760 may move the main body 10 under the control of the control unit 740.

Meanwhile, the mobile robot 1 may include a sensor unit 770 including sensors for sensing various data related to the operation and state of the mobile robot 1.

The sensor unit 770 may include an obstacle detection sensor that detects an obstacle. The obstacle detection sensor may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a position sensitive device (PSD) have. E.g. The obstacle detection sensor may correspond to the ultrasonic sensor 333, the RGBD sensor 321, and the like described above with reference to Figs. 1 to 6.

In addition, the sensor unit 770 may further include a cliff detection sensor 113 for detecting the presence or absence of a cliff on the floor in the driving area.

The sensor unit 770 may further include a sensor for sensing a size of a sound obtained through the microphone 314, and the size of a voice uttered by the user, the size of the ambient noise Can be sensed.

Alternatively, the voice input unit 725 can discriminate the size of the user's voice and surrounding noises during the process of the signal obtained through the microphone 314, without further including a separate sensor.

In addition, the sensor unit 770 may include a light detection and ranging (Lidar) 136, 118.

The riders 136 and 118 detect an object such as an obstacle based on a TOF (Time of Flight) of a transmission signal and a reception signal or a phase difference between a transmission signal and a reception signal via a laser light can do.

Further, the riders 132a and 132b can detect the distance to the object, the relative speed with the object, and the position of the object.

The riders 132a and 132b may be provided as part of the configuration of the obstacle detection sensor. Also, the riders 132a and 132b may be provided as a sensor for creating a map.

On the other hand, the obstacle detection sensor senses an object, particularly an obstacle, existing in a traveling direction (movement direction) of the mobile robot, and transmits obstacle information to the control unit 740. At this time, the control unit 740 can control the movement of the mobile robot 1 according to the position of the detected obstacle.

The sensor unit 770 may further include a motion detection sensor for detecting motion of the mobile robot 1 according to driving of the main body 101 and outputting motion information. For example, a gyro sensor, a wheel sensor, an acceleration sensor, or the like can be used as the motion detection sensor.

The gyro sensor senses the direction of rotation and detects the rotation angle when the mobile robot 1 moves according to the operation mode. The gyro sensor detects the angular velocity of the mobile robot 1 and outputs a voltage value proportional to the angular velocity. The control unit 740 calculates the rotation direction and the rotation angle using the voltage value output from the gyro sensor.

The wheel sensor is connected to the left and right wheels to detect the number of revolutions of the wheel. Here, the wheel sensor may be a rotary encoder. The rotary encoder detects and outputs the number of rotations of the left and right wheels.

The control unit 740 can calculate the rotational speeds of the left and right wheels using the rotational speed. Also, the controller 740 can calculate the rotation angle using the difference in the number of rotations of the left and right wheels.

The acceleration sensor detects a change in the speed of the mobile robot 1, for example, a change in the mobile robot 1 due to a start, a stop, a direction change, a collision with an object or the like. The acceleration sensor is attached to the main wheel or the adjoining positions of the auxiliary wheels, so that the slip or idling of the wheel can be detected.

In addition, the acceleration sensor is built in the control unit 740 and can detect a speed change of the mobile robot 1. [ That is, the acceleration sensor detects the amount of impact according to the speed change and outputs a corresponding voltage value. Thus, the acceleration sensor can perform the function of an electronic bumper.

The control unit 740 can calculate the positional change of the mobile robot 1 based on the operation information output from the motion detection sensor. Such a position is a relative position corresponding to the absolute position using the image information. The mobile robot can improve the performance of the position recognition using the image information and the obstacle information through the relative position recognition.

1 to 7, the mobile robot 1 according to an embodiment of the present invention includes a voice input unit 725 for receiving a voice input of a user, a first display 312 capable of touch input, A second display 21 that is larger than the first display 312 and a control unit 740 that controls the overall operation of the mobile robot 1. [

The first display 312 may be disposed above the second display 21 to facilitate touch input.

Meanwhile, the control unit 740 can provide various information and services by combining the two displays 312 and 21 of the mobile robot.

The control unit 740 controls the first display 312 and / or the second display 312 to correspond to the voice input received through the voice input unit 725 or the touch input received through the first display 312 21 to display a predetermined screen.

In this case, the control unit 740 displays the predetermined screen on at least one of the first display 312 and the second display 21 based on the type and amount of the information included in the predetermined screen to be displayed So that the display can be controlled.

The control unit 740 may control the information displayed on the displays 312 and 21 according to the usage such as the amount of information to be provided,

For example, when the mobile robot 1 is in a standby state, the control unit 740 may control the second display 21 to display a standby screen on a larger screen than the first display 312 .

The waiting screen may include at least one of general guide information, announcements, and a predetermined advertisement of a public place in which the mobile robot 1 is disposed.

In addition, the waiting screen may sequentially include a guide screen and an advertisement screen of predetermined destinations. That is, when the mobile robot 1 is in the standby state, the controller 740 can control to sequentially display the guide screen and the advertisement screen of predetermined destinations.

In addition, the waiting screen may be configured differently depending on the place where the mobile robot 1 is disposed.

FIG. 8 is a diagram referred to in explanation of an in-the-standby screen according to an embodiment of the present invention, illustrating a case where the mobile robot 1 provides a guidance service at an airport.

FIG. 9 is a diagram illustrating an advertisement screen displayed in an idle state according to an exemplary embodiment of the present invention. Referring to FIG.

The mobile robot 1 can display another in-waiting screen according to the characteristics of the placement place in the airport.

For example, when an airport is divided into an air side and a land side in a duty-free shop after passing through the immigration control unit, a mobile robot (air side) disposed on the air side 1 displayed by the mobile robot 1 placed on the land side of the airport may be different from the standby screen displayed by the mobile robot 1 displayed on the airport land side.

8A, the second display 21 of the mobile robot 1 arranged on the air side includes a boarding gate map screen 811 for guiding the position of the boarding gate, An advertisement screen 812 including an image may be sequentially displayed.

8B, the second display 21 of the mobile robot 1 arranged on the land side is provided with a counter map screen 821 for guiding the position of the counter in the land side ), A representative counter guide screen 822 of representative airlines, and an advertisement screen 823 including one or more advertisement images may be sequentially displayed.

Meanwhile, the advertisement screens 812 and 823 may be provided in accordance with the advertisement contract contents and time.

On the other hand, the representative counter guidance screen 822 may be provided with a higher priority than the counter map screen 821. In some cases, the representative counter guide screen 822 and the advertisement screen 823 may be sequentially displayed on the second display 21 of the mobile robot 1 disposed on the land side.

On the other hand, when the mobile robot 1 is in the standby state, the control unit 740 may control the first display 312 to display an image for expressing the facial expression corresponding to the waiting state.

The mobile robot 1 according to the present invention can receive the user's touch input through the first display 312 and the user's voice input through the voice input unit 725. [

In addition, the first display 312 capable of touch input displays mainly the screen requiring the user's operation, and the second display 21 on the large screen requires a large display such as a map screen when the amount of information is large Can be displayed on the screen.

Accordingly, the mobile robot 1 according to the present invention can conveniently provide various services to the user by combining touch inputs, voice inputs, and two displays 312 and 21 having different sizes and functions.

9, in the atmospheric state, the advertisement image 920 may be displayed on at least a part of the second display 21. The advertisement image 920 may be a still image or a moving image.

Referring to FIG. 9, the second display 21 may display greetings, announcements, other guidance messages 910, and advertisement images 920.

Alternatively, after displaying the guide screen such as the boarding gate map screen 811, the counter map screen 821, and the representative counter guide screen 822 of the representative airlines, a predetermined advertisement image may be displayed in the entire area of the second display 21 Can be reproduced.

It is possible to provide an advertisement targeting an airport user by utilizing the large-screen second display 21 of the mobile robot 1 waiting at a predetermined place without providing a guidance service to a specific user.

However, it is difficult to exactly match the interests of those who are engaged, interesting, and precise to the target audience.

Accordingly, the present invention proposes a method of providing a customized advertisement to a user using the guidance service of the mobile robot 1, and continuously displaying an interested advertisement during guidance.

10 is a flowchart illustrating an operation method of a mobile robot according to an embodiment of the present invention.

10, the mobile robot 1 can receive a touch input or a voice input including a predetermined keyword (S1010), and can determine a guide destination based on the predetermined keyword (S1020) .

The mobile robot 1 can display a menu screen through the first display 312 and receive the touch input of the user.

Further, the mobile robot 1 can receive and process the voice input of the user through the voice input unit 725. [

The predetermined keyword may be at least one of a store name, an item name, a brand name, and a destination name.

For example, the predetermined keyword may correspond to a specific duty-free shop, a specific product name, or a specific brand name.

Alternatively, the predetermined keyword may include a destination name to which a user is searching or receiving a guidance service.

In the guidance destination determination step S1020, the control unit 740 performs a search based on the inputted keyword, and controls to display the search result on the first display 312, The user can confirm or select the candidate destination from the above candidate destinations as the final guide destination.

For example, when the touch input or the voice input including the 'A duty-free shop' is received, the control unit 740 searches the data stored in the storage unit 730 to request the location information and guidance service of 'A duty free shop' And a search result including a menu item or the like on the first display 312 can be controlled.

Alternatively, the control unit 740 may transmit the keyword 'A duty-free shop' to the predetermined server through the communication unit 790 and receive the search result or search using the Internet network.

On the other hand, destination names such as '11th boarding gate' and 'restroom' may also be keywords.

Also in this case, the control unit 740 can search for a destination name, which is an input keyword, and provide it to the user through the first display 312.

On the other hand, when a keyword is input by voice input or touch input, a destination list, a map position, a current position, and the like corresponding to the keyword are displayed on the first display 312, The route to the destination corresponding to the map, the keyword, the distance, the estimated time required for arrival, and the like may be displayed.

The control unit 740 displays a detailed screen for the guide destination corresponding to the keyword input to the second display 21 when a keyword input is received by voice input or touch input, (Escort service) for moving to a guide destination corresponding to the inputted keyword to the first display unit 312 and a confirmation of a destination corresponding to the keyword displayed on the second display 21 To display a guidance message to guide the user.

That is, the first display 312 displays a menu including menu items and brief information for requesting a guidance service by a touch input, and the second display 21 displays a map screen including a guide destination and a name of a guide destination A detailed screen including detailed information including a location, a distance, and the like can be displayed.

On the other hand, when a plurality of places are searched, the control unit 740 may display a plurality of candidate destinations on the first display 312 and wait for the user's selection.

In addition, when one location is searched, the controller 740 may display one candidate destination on the first display 312 and wait for the user's confirmation.

For example, when the user requests an escort service by voice input or touch input for a specific destination, the control unit 740 can determine the specific destination as the final guide destination.

In addition, the control unit 740 can control the robot to enter the robot guidance mode for the escort service that guides the mobile robot 1 to the guide destination.

In the robot guidance mode, the control unit 740 can generate a path to the determined guidance destination (S1030), and the mobile robot 1 can move based on the generated path (S1040).

The control unit 740 can generate a global route from the current position to the determined guide destination. Here, the global path may be formed with a plurality of nodes having an order relation. The control unit 740 may generate a local path up to a next sequential note among a plurality of nodes included in the global route.

In addition, the control unit 740 can control the mobile robot 1 to move to the next node according to the generated local path.

Also, the control unit 740 can control to repeatedly generate and move the local route until it reaches the guide destination.

On the other hand, in the robot guidance mode in which the escort service is provided, various guide information is displayed on the displays 21 and 312 so that the user can safely follow the mobile robot 1 while the mobile robot 1 is moving to the guide destination (S1050).

For example, when there is a direction change, a screen for guiding the direction change can be displayed on the display (21, 312). If an obstacle is detected during the movement, (21, 312).

In addition, during the movement, a guide information screen including guide information such as remaining distance to the guide destination, remaining time, and the like can be displayed on the displays 21 and 312 (S1050).

Meanwhile, as described with reference to FIGS. 1 to 7, the first display 312 may be disposed on a rotatable head. More specifically, the first display 312 may be disposed on one side of the top cover 31.

On the other hand, the control unit 740 can rotate the head when the mobile robot 1 moves.

When the mobile robot of the mobile robot 1 is stopped, the control unit 740 rotates the head to align the first display 312 and the second display 21 .

Accordingly, the direction in which the first display 312 and the second display 21 are viewed can be changed in a state where the mobile robot 1 is running or stopped.

For example, when the mobile robot 1 is in a standby state, the directions in which the first display 312 and the second display 21 are viewed may be the same as illustrated in FIG.

In addition, when the mobile robot 1 is running, the directions in which the first display 312 and the second display 21 are viewed may be opposite to each other, as illustrated in FIG.

In this case, it is more preferable that various guidance information displayed in the robot guidance mode is displayed on the second display 21 (S1050).

In addition, the control unit 740 may control to display the advertisement image based on the predetermined keyword on the second display 21 (S1060).

According to the present invention, an advertisement image can be provided in connection with a guidance service.

Accordingly, it is possible to provide an advertisement having a high degree of interest based on the keyword inputted by the user, and to continuously display the advertisement to the user following the mobile robot 1.

In addition, it is possible to adjust the timing of the advertisement and contents of the advertisement in connection with the guidance service.

For example, the advertisement image may be varied according to the current position of the mobile robot. According to the present invention, the advertisement effect can be further improved by providing the advertisement image of the store near the current location by utilizing the current location information while providing the escort service.

During the escort service, location information can be used to display promotions of shops in airports such as duty-free shops, banks, or location-based advertisement images.

Also, it is possible to output an advertisement image related to a predetermined time before a destination arrival, a destination destination, a guide destination, or an airline or a travel destination.

The mobile robot 1 according to the present invention can provide one-to-one advertisements by analogizing interests of users based on keywords inputted by the user, and can be an effective marketing means.

Also, according to the present invention, an advertisement story can be transmitted to a user as a whole by escorting a user and showing a user's interest.

Further, according to the present invention, the purchase of the advertisement product / service can be performed immediately at the place (airport), which is more effective.

Meanwhile, the mobile robot 1 according to an embodiment of the present invention may acquire a user image through an image acquisition unit 720 including one or more cameras.

The control unit 740 may determine the age and / or gender of the user based on the image acquired through the image acquisition unit 720. [

In this case, the advertisement image may be different according to the age and sex of the discriminated user. That is, the control unit 740 can control the advertisement display of the shops and items of high interest according to the age and / or gender of the user to be displayed on the second display 21.

The mobile robot 1 according to the present invention recognizes the destination keyword, sex, age, and the like, which the user searched when escorting the user to a destination in a building or a public place, to expose the user interest advertisement.

The mobile robot (1) according to the present invention determines the age and sex of a user by utilizing a camera. It is possible to provide the advertisement by analogizing the user interest and demand with the keyword inputted by the user.

In addition, according to the present invention, it is possible to increase the concentration and the effect on the advertisement by exposing the similar advertisement while the user is going to the place for purchase of the predetermined product.

Meanwhile, as described above, the guide information screen including the destination information, navigation information including the map screen, remaining distance information, and remaining time information is displayed on the second display 21 during the escort service provision (S1050).

In this case, the advertisement image may be displayed on the map screen.

According to an embodiment of the present invention, an advertisement image may be provided based on current location information. Therefore, by displaying the advertisement image at the actual positions of the predetermined stores on the map screen displayed for the guidance, it is possible to help the user to easily move to the shop being advertised.

According to an embodiment of the present invention, it is possible to clearly provide the user with a purchaseable shop location of the advertisement product / service by exposing the advertisement together when moving.

Businesses can directly target ads to their target audience. One-to-one delivery of information is possible.

The advertisement image according to the present invention may be displayed on the guide information screen or may be displayed with the guide information screen by dividing the screen of the second display 21.

In addition, the advertisement image according to the present invention may be displayed on the entire screen of the second display 21 for a predetermined time. For example, when the store corresponding to the advertisement image is close, the corresponding advertisement image may be displayed on the entire screen of the second display 21.

The plurality of advertisement images may be stored in advance in the storage unit 730 and a predetermined advertisement image may be displayed on the second display 21 at a specific time according to the control of the control unit 740. [

Alternatively, a plurality of advertisement images may be stored in a predetermined server. In this case, the control unit 740 may control the communication unit 790 to transmit the predetermined keyword to the server and receive the advertisement image corresponding to the predetermined keyword from the server.

11 is a flowchart illustrating an operation method of a mobile robot according to an embodiment of the present invention.

11 is an embodiment for recognizing a ticket without a keyword and providing a guidance service and advertisement, and the difference is substantially the same as the embodiment described with reference to FIG. Therefore, contents similar to those described in Fig. 10 will be briefly described below.

Referring to FIG. 11, the mobile robot 1 can recognize a ticket inserted through a ticket input slot (S1110). The guide destination can be determined based on the recognition result of the ticket (S1120).

When a ticket such as a ticket is inserted into the ticket input port 50, the mobile robot 1 can recognize the information included in the ticket by scanning the bar code, QR code, and the like included in the ticket.

In the guide destination determination step S1120, the control unit 740 controls to display the ticket scan result on the first display 312 and / or the second display 21, , For example, the boarding gate as the final guide destination.

The control unit 740 generates a path to the determined guidance destination (S1130), and controls the mobile robot 1 to move based on the generated path (S1140).

In this embodiment, the advertisement image based on the recognition result of the ticket can be displayed on the second display 21 (S1160).

When a ticket is recognized, the ticket recognition allows the user to know the destination, the travel route, the travel information, the flight information, and the like, and does not need to input the user's personal information or keyword.

Accordingly, the customized advertisement can be provided to the user based on the information obtained according to the ticket recognition during the guidance, and the advertisement time point and the advertisement contents can be coordinated with the guidance service.

According to the present invention, it is possible to maximize the advertisement effect by promoting the nearby shops and products when guiding the user.

For example, the advertisement image may be varied according to the current position of the mobile robot. That is, according to the present invention, it is possible to further improve the advertisement effect by providing the advertisement image of the store near the current location by utilizing the current location information during the escort service provision.

Also, according to the present invention, the user can be escorted and the advertisement is provided to the user on a one-to-one basis, so that the advertisement story can be transmitted to the user as a whole.

Further, according to the present invention, the purchase of the advertisement product / service can be performed immediately at the place (airport), which is more effective.

Meanwhile, the mobile robot 1 according to an embodiment of the present invention may acquire a user image through an image acquisition unit 720 including one or more cameras.

The control unit 740 may determine the age and / or gender of the user based on the image acquired through the image acquisition unit 720. [

In this case, the advertisement image may be different according to the age and sex of the discriminated user. That is, the control unit 740 can control the advertisement display of the shops and items of high interest according to the age and / or gender of the user to be displayed on the second display 21.

The mobile robot 1 according to the present invention recognizes the destination keyword, sex, age, and the like, which the user searched when escorting the user to a destination in a building or a public place, to expose the user interest advertisement.

The mobile robot (1) according to the present invention determines the age and sex of a user by utilizing a camera. It is possible to provide the advertisement by analogizing the user interest and demand with the keyword inputted by the user.

In addition, according to the present invention, it is possible to increase the concentration and the effect on the advertisement by exposing the similar advertisement while the user is going to the place for purchase of the predetermined product.

Meanwhile, the guide information screen including destination information, navigation information including a map screen, remaining distance information, and remaining time information may be displayed on the second display 21 during the escort service provision (S1150) .

In this case, the advertisement image may be displayed on the map screen.

According to an embodiment of the present invention, an advertisement image may be provided based on current location information. Therefore, the advertisement image can be displayed at the actual positions of the predetermined stores on the map screen displayed for guidance.

According to an embodiment of the present invention, it is possible to clearly provide the user with a purchaseable shop location of the advertisement product / service by exposing the advertisement together when moving.

Businesses can directly target ads to their target audience. One-to-one delivery of information is possible.

The advertisement image according to the present invention may be displayed on the guide information screen or may be displayed with the guide information screen by dividing the screen of the second display 21.

In addition, the advertisement image according to the present invention may be displayed on the entire screen of the second display 21 for a predetermined time. For example, when the store corresponding to the advertisement image is close, the corresponding advertisement image may be displayed on the entire screen of the second display 21.

The plurality of advertisement images may be stored in advance in the storage unit 730 and a predetermined advertisement image may be displayed on the second display 21 at a specific time according to the control of the control unit 740. [

Alternatively, a plurality of advertisement images may be stored in a predetermined server.

In this case, the control unit 740 may transmit the recognition result of the ticket to the server, and may control the communication unit 790 to receive the advertisement image corresponding to the recognition result of the ticket from the server.

12 to 21 are diagrams referred to in explaining an operation method of the mobile robot according to the embodiment of the present invention.

12 is a diagram illustrating a main screen, and more specifically, a main screen displayed by a mobile robot disposed on the air side is illustrated.

12, the main screen 1200 displayed on the first display 312 of the mobile robot disposed on the airside may include a main menu area 1210 and a voice recognition area 1220.

The main menu area 1210 may include main menu items in which destinations are classified into category items classified according to a predetermined criterion.

For example, the main menu items may include a shopping 1211, a boarding gate 1212, a hotel / lounge 1213, a restaurant 1214, a ticket barcode scan 1215, and amenities 1216.

The user selects either voice input or touch input to select either shopping 1211, boarding gate 1212, hotel / lounge 1213, restaurant 1214, ticket barcode scan 1215, or amenities 1216 Later, the destination included in the category can be searched for, or a corresponding service can be provided.

In the voice recognition area 1220, a voice recognition microphone button and a call word guidance guide may be displayed. For example, if 'Air Star' is set as the caller, a call guide induction guide may be displayed that calls it 'Air Star' or touches the microphone button.

The controller 740 may control the user to enter the voice recognition process when the user touches a microphone button of the voice recognition area 1220 or utter a call word.

On the other hand, the second display 21 may display a screen 1230 for guiding the operation of the first display 312.

In addition, the main screen displayed on the first display 312 of the mobile robot disposed on the land side may include other main menu items. For example, the main menu items may include roaming, airline counters, and amenities.

If the user selects the ticket barcode scan 1515 from among the main menu items, the control unit 740 can control the first display 312 to display a screen for guiding the entry of the ticket into the ticket input slot 50 .

Further, the control unit 740 can control the first display 312 to display a screen for guiding the withdrawal of the ticket after the completion of the scan.

Further, the mobile robot 1 may display the ticket recognition result on the second display 21, and may provide the user with gate information, counter information, etc. according to the ticket recognition result.

The control unit 740 displays the recognition result of the ticket on the first display 312 and displays the guidance information to the destination corresponding to the recognition result on the ticket on the second display 21 Can be controlled.

If ticket recognition such as ticket is unsuccessful, the control unit 740 may control the first display 312 to display a screen for notifying the recognition failure.

Referring to FIG. 13, the controller 740 may control the second display 21 to display the detailed position guidance screen of the boarding gate No. 36, which is the determined destination, based on the ticket recognition result.

Referring to FIG. 13, the destination detailed location guidance screen may include a usage guide area 1320 provided with a title and an operation guidance guide, and an information area 1330 displaying detailed information.

In the information area 1330, a map showing the position information of the boarding gate as a destination, a boarding gate number, a path from the current position to the destination, distance information, estimated time information, and the like may be displayed.

According to an embodiment, a predetermined advertisement image may be displayed on the map.

Or a predetermined advertisement image may be displayed so as to overlap with another part of the destination detail location guidance screen.

Or the screen of the second display 21 may be divided and displayed in two areas where the destination detailed position guidance screen and the advertisement image are divided.

On the other hand, the information area 1330 can further display information related to flights such as travel weather, local time, and flight time based on the ticket recognition result.

On the other hand, the control unit 740 may display a screen for prompting the first display 312 to confirm the information displayed on the second display 21.

13, the control unit 740 may include a menu item for requesting a guide service to move the screen displayed on the first display 312 to the inputted guide destination and guide the user after a predetermined time has elapsed, It is possible to switch to and display a screen 1310 including a guidance message for guiding confirmation of the destination displayed on the second display.

When the user requests the guidance service, the control unit 740 controls the robot to enter the robot guidance mode and guide the user to the guide destination.

FIG. 14 illustrates a screen displayed when a predetermined category such as shopping 1211, hotel / lounge 1213, restaurant 1214, and convenience store 1216 is selected from among main menu items.

Referring to FIG. 14, the control unit 740 controls the first display 312 to display a search screen 1400 including a search input window for searching a place in a predetermined category .

The user can input a predetermined keyword into the search input window included in the search screen 1400 to search for a destination.

Alternatively, the control unit 740 may provide items included in the selected category in a list form.

In addition, the controller 740 may provide a list of sub-categories obtained by reclassifying the items included in the selected category according to a predetermined criterion, and may provide the items included in the selected sub-category list as a list.

For example, when the user selects shopping 1211, the user can provide duty-free shops, items, and brands as a sub-category list, and provide items included in the selected sub-category list in a list form.

If the user selects any one of the displayed items, the control unit 740 can recognize the duty-free shop, item, and brand corresponding to the selected item as keywords. That is, the keyword input can be performed with the selection input of the displayed item.

Fig. 15 shows an example of a search result screen.

Referring to FIG. 15, the controller 740 controls the first display 312 to display a search result screen 1500 when any one of the provided items is selected or the input through the search input window is completed .

The search result screen 1500 may include a list in which the current location and the location of the searched location are displayed in an order of the airport map and the searched location in the nearest position to the current location.

In addition, the search result screen 1500 may include a detailed position button for confirming detailed information and a button (escort) for requesting a guidance service.

When the user selects the detailed location button, the user can provide the entire map, the destination location, the route to the destination, the user's current location, and the destination information (operating time) in the airport through the second display 21 on the large screen.

Also in this case, a predetermined advertisement image can be displayed on a map or another area provided through the second display 21.

When the user selects the escort button, the control unit 740 can determine the destination as the final guide destination.

The control unit 740 also provides information on the entire map in the airport, the destination location, the route to the destination, the user's current location, the time and distance to the destination via the second display 21 on the large screen, You can control to start.

28, in the robot guidance mode in which the user is escorted to the guide destination selected by the user, the user moves along the mobile robot 1 while the mobile robot 1 moves to the guide destination, Various kinds of guidance information may be displayed on the second display 21. [

By displaying the detailed information and the additional information using the second display 21 on the large screen, more information can be provided on one screen, and the user can view the entire airport map, which is easy to understand the entire route.

16, in the robot guidance mode in which a user is escorted, the second display 21 includes destination information, navigation information including a map screen, remaining distance information, and remaining time information A guide information screen can be displayed.

Meanwhile, the first display 312 may display an image representing a facial expression corresponding to a robot guidance mode state in which a user is escorted.

FIG. 16 illustrates a case where a currency exchange station is selected as a destination.

16, the use guide area 1610 of the second display 21 displays title information such as 'destination detailed location guidance', a message to guide the direction of rotation, current position information, , &Quot; Follow me ", and the like.

In the information area 1620 of the second display 21, guidance information 1624 such as destination or search result information (e.g., money exchange), navigation information including a map screen, remaining distance, remaining time, etc., Can be displayed.

The current position 1621 and the position of the destination may be displayed on the map together with the route in the navigation information.

In addition, the advertisement images 1622 and 1623 based on the current location 1621, the destination location, and the like can be displayed on the map. In this case, the advertisement images 1622 and 1623 may be displayed on a map corresponding to locations where a predetermined product / service can be purchased.

In addition, a predetermined area 1630 of the second display 21 may display a selected advertisement image based on destination information.

For example, in case of guiding the user to a currency exchange, an advertisement related to a currency exchange event of a predetermined bank may be displayed in the predetermined area 1630.

Also, the advertisement images 1622 and 1623 based on the location information may be advertisement images of other exchange centers related to the destination exchange. For example, the advertisement images 1622 and 1623 based on the location information can provide advertisements such as banking events, currency exchange preferential coupons, etc., which can be exchanged at the same floor as the destination exchange.

FIG. 17 illustrates a case where a counter of a predetermined airline is selected as a destination.

17, the use guide area 1710 of the second display 21 displays title information such as 'destination detailed location guidance', a message to guide the direction of rotation, current location information, , &Quot; Follow me ", and the like.

In the information area 1720 of the second display 21, guidance information such as destination or search result information (e.g., airline counter), navigation information including a map screen, remaining distance, remaining time, etc., .

The current position and the position of the destination may be displayed on the map together with the route in the navigation information.

In addition, the advertisement image selected on the basis of the destination information may be displayed in a predetermined area 1730 of the second display 21.

For example, when the user guides the user to a ticket counter of a predetermined airline, an advertisement of an airline event, a promotion, a discount airline ticket, etc. may be displayed in the predetermined area 1730.

According to the present invention, it is possible to maximize the advertisement effect by promoting the nearby shops and products when guiding the user.

In addition, it is possible to prevent the user from being exposed to indiscreet ads by selectively providing the advertisements necessary for the user based on information based on the keyword input or the ticket recognition result for destination search and selection.

In addition, the advertisement effect can be enhanced by exposing a similar advertisement while the user is going to the place for purchase of the product / service.

In addition, users' interests can be found in real time without using personal information such as resident registration number, passport information, credit card number, and name, and can be reflected in the advertisement contents.

Businesses (advertisers) can strategically drive product exposure and advertising by providing specific ads to specific targets.

In addition, the mobile robot 1 according to the present invention determines the age and sex of a user by utilizing a camera. It is possible to provide advertisements by analogizing user interest and demand with the keyword or the ticket recognition result inputted by the user.

Also in this case, the advertisement image determined based on the age, sex and location information of the user can be displayed on the guide information screen provided in the escort.

Referring to FIG. 18, the control unit 740 may reduce or enlarge the map screen of the information area 1820.

For example, the control unit 740 can control the mobile robot to enlarge and display the map when the mobile robot turns a corner or a predetermined event occurs.

On the other hand, the control unit 740 may rotate the map screen of the information area 1820 around the current position.

18, the controller 740 displays a message for guiding the right turn to the use guide area 1810 of the second display 21, such as " Go right, " It is possible to control so that a corresponding graphic image (not shown) is displayed.

In addition, the controller 740 may control the information area 1820 to update and display the guide information 1825 such as the remaining distance to the destination and the remaining time in real time.

On the other hand, the control unit 740 can control the advertisement images 1822, 1823, and 1824 related to the stores within the predetermined distance based on the current location 1820 to be displayed on the enlarged map in the information area 1820.

The control unit 740 displays advertisement images (advertisement) for advertising related discounts, discount events, and other events such as men's goods, liquor, cigarettes, and watches in duty free shops near the route if the determined destination / sex / age is duty free / male / 1822, 1823, and 1824 are displayed.

FIG. 19 illustrates advertisement contents in airports classified according to the user's sex and age.

Referring to FIG. 19, when a female user in her thirties is provided with an escort service to the mobile robot 1 on the air side, she can expose the most-sold cosmetics advertisements on the map for guiding the route.

In addition, when the keyword used for the destination search and selection is a shop name such as a duty-free shop, it is possible to expose advertisements related to major brands, items, and discount information of the shop, or to expose advertisements of similar shops.

Alternatively, when the keyword used for the destination search and selection is an item name of a predetermined electronic product or the like, a brand advertisement of the same item, an advertisement of a popular product of the same item, or a discount may be exposed.

Alternatively, if the keyword used by the user for searching and selecting the destination is a predetermined brand name, the advertiser may be able to expose the brand advertisement of the brand or the advertisement related to the in-store event.

The advertisement image according to the present invention may be displayed on the guide information screen or may be displayed with the guide information screen by dividing the screen of the second display 21.

Referring to FIG. 19, an advertisement image provided through the mobile robot 1 according to an embodiment of the present invention may differ according to a guide area allocated to the corresponding mobile robot among a plurality of guide areas.

That is, the advertisement provided according to the area allocated to the corresponding mobile robot among the plurality of guide areas (e.g., air side, land side) may be different.

In addition, according to one embodiment of the present invention, the mobile robot 1 can provide a user with a selected advertisement based on the allocated guidance area, the sex and age of the identified user.

In addition, the advertisement image according to the present invention may be displayed on the entire screen of the second display 21 for a predetermined time or may be enlarged to a predetermined size. For example, when the store corresponding to the advertisement image is close, the corresponding advertisement image may be displayed on the entire screen of the second display 21.

16 and 20, the area 1630 where the advertisement image is displayed can be enlarged when the store corresponding to the advertisement image is close to the enlarged area 1631, and the previous advertisement image is enlarged Or more information may be displayed as the area is enlarged.

Also, depending on the embodiment, the enlarged area 1631 may be expanded to a maximum to occupy the entire screen of the second display 21.

21, a greeting, a notice, a guidance message 2110 and an advertisement image 2120 may be displayed on the second display 21 of the mobile robot 1 when the user arrives at a guide destination such as a boarding gate have. Here, the advertisement image 2120 may be an advertisement image related to the travel destination based on the ticket recognition result.

According to at least one of the embodiments of the present invention, various services such as a guidance service can be provided in a public place.

In addition, according to at least one embodiment of the present invention, it is possible to easily provide information displayed on a display in a route guidance service provision process.

In addition, according to at least one embodiment of the present invention, the advertisement effect and the user satisfaction can be improved by providing a customized advertisement to the guide target person.

In addition, according to at least one embodiment of the present invention, the advertisement effect can be improved by continuously displaying the advertisement to the guide target for a predetermined time.

The mobile robot according to the present invention is not limited to the configuration and method of the embodiments described above, but the embodiments may be modified such that all or some of the embodiments are selectively combined .

Meanwhile, the method of operating the mobile robot according to the embodiment of the present invention can be implemented as a code that can be read by a processor on a recording medium readable by the processor. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

Mobile Robot: 1
Display unit: 710
Image acquisition section: 720
Voice input section: 725
Storage: 730
Control section: 740
Driving part: 760
Communication department: 790

Claims (15)

Receiving a touch input or voice input including a predetermined keyword;
Determining a guide destination based on the predetermined keyword;
Generating a route to the determined guide destination;
Moving based on the generated path; And
And displaying an advertisement image based on the predetermined keyword. The method according to claim 1,
Wherein the predetermined keyword is at least one of a store name, an item name, a brand name, and a destination name. The method according to claim 1,
Wherein the advertisement image is variable according to a current position of the mobile robot. The method according to claim 1,
Acquiring a user image through an image acquisition unit including a camera;
Further comprising the step of discriminating the age and sex of the user based on the obtained image,
Wherein the advertisement image is different according to the age and sex of the discriminated user. The method according to claim 1,
Displaying navigation information screen including destination information, navigation information including a map screen, remaining distance information, and remaining time information. 6. The method of claim 5,
Wherein the advertisement image is displayed on the map screen. The method according to claim 1,
Transmitting the predetermined keyword to a server;
And receiving an advertisement image corresponding to the predetermined keyword from the server. The method according to claim 1,
Wherein the advertisement image is different according to a guide area allocated to the mobile robot among a plurality of guide areas. Recognizing a ticket inserted through a ticket input port;
Determining a guide destination based on the recognition result of the ticket;
Generating a route to the determined guide destination;
Moving based on the generated path; And
And displaying an advertisement image based on the recognition result of the ticket. 10. The method of claim 9,
Wherein the advertisement image is variable according to a current position of the mobile robot. 10. The method of claim 9,
Acquiring a user image through an image acquisition unit including a camera;
Further comprising the step of discriminating the age and sex of the user based on the obtained image,
Wherein the advertisement image is different according to the age and sex of the discriminated user. 10. The method of claim 9,
Displaying navigation information screen including destination information, navigation information including a map screen, remaining distance information, and remaining time information. 13. The method of claim 12,
Wherein the advertisement image is displayed on the map screen. 13. The method of claim 12,
Transmitting a recognition result of the ticket to a server;
And receiving an advertisement image corresponding to a recognition result of the ticket from the server. 10. The method of claim 9,
Wherein the advertisement image is different according to a guide area allocated to the mobile robot among a plurality of guide areas.

Images